Option 2): Output encoder on the PRT bearing of the joint. This is our own development, we use a magnetic ring plus Encoderchip on the output with an aditional magnet and Hall Sensor as reference point. Please find attached a description of the output encoder attached in GER and ENGL. Advantage: less cables, higher resolution, more accuracy for the arm.

Company Commonplace robotics from GER shows a quick and simple control solution for our modular joint kit. It consists of a set of electronics (incl. stepper motor drivers) and a WINDOWS software package.

More details can not yet be announced, as this is a brand new solution, but we will check more facts within the next weeks. The product is available at Commonplace robotics GmbH:

We have been involved in the development of a new open source teen size soccer robot for 2 years now (and the improvement still goes on!). The main development was done by the University of Bonn, institute AIS, Professor Sven Behnke, who also developped our open source robolink software IME (igus motion editor), igus contrubuted the design and technology of the outer shell parts (made by 3D printing / SLS). In the next stage we will improve the cabeling inside the robot with our chainflex know-how for often bending cables.

This youtube video shows the current state of the software development (thanks to Philipp Allgeuer for sharing it).